Learning Predictive Control
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Related Articles from SNS
Learning Predictive Control with Deep Koopman Operators for Autonomous Vehicle Motion Planning
arXiv:2606.08136v1 Announce Type: new Abstract: Model Predictive Control (MPC) is widely used for autonomous-vehicle (AV) motion planning, but its real-time applicability is often limited by the need for accurate models and online solution of nonlinear, nonconvex optimization problems in dynamic road environments. Actor-critic reinforcement learning offers a promising alternative for online policy generation, yet its policy-learning process often lacks explicit control-theoretic structure....
Koopman operator learning for predictive control via Khatri-Rao kernel regression
arXiv:2606.02938v1 Announce Type: cross Abstract: This paper develops a data-driven realization of the generalized Koopman operator (GeKo), in which states and inputs are lifted independently and the dynamics are expressed as a tensor bilinear system. The first contribution is a time-sequenced multi-step Khatri-Rao kernel regression formulation that exposes the operator to evolved snapshots along trajectories rather than only single one-step pairs, which reduces compounded prediction error....
Who Earns the Safety? Intervention-Aware Quantum Predictive Control with Safety Attribution
arXiv:2606.09778v1 Announce Type: cross Abstract: Hard safety filters are increasingly placed downstream of learned controllers to guarantee constraint satisfaction at run time. Yet a filtered controller that never violates a constraint may still have learned nothing about safety: the filter can silently repair an incompetent upstream policy, so that post-filter success measures the filter, not the policy. We argue that safe policy learning should ask who earns the safety - the policy or its...
Amortized Nonlinear Model Predictive Control
arXiv:2606.05840v1 Announce Type: new Abstract: Nonlinear Model Predictive Control requires solving a constrained nonlinear program (NLP) in real-time at every sampling instant, a computational bottleneck that limits deployment on resource-constrained hardware or at high sampling rates. We address this challenge for the broad class of input-affine nonlinear systems to show that the optimal control move can be approximated by a state-dependent quadratic program (QP) whose cost parameters...
A Low-Latency Semantic State Estimator using Latent Predictive Learning for Dynamic Network Monitoring and Orchestration
Announce Type: new Abstract: Closed-loop network monitoring and orchestration increasingly require semantic interpretations of live telemetry beyond raw counter collection. However, dynamic cloud-edge environments change both the active node set and the monitoring query at runtime, while control loops demand bounded millisecond-scale responses. We introduce a latent predictive state estimator (LPSE) for dynamic network monitoring and orchestration, built on latent predictive learning over...
Input-to-State Stable Bundle Koopman Neural ODEs for Learning Controlled Dynamics under Environmental Constraints
Announce Type: new Abstract: We propose ISS-BKNO, a unified framework that integrates Koopman operator identification, Neural ordinary differential equations (ODEs), fiber bundle geometry, and input-to-state stability (ISS) certification. Unlike prior approaches that address stability, extrinsic inputs, or environmental constraints in isolation, the proposed framework simultaneously learns controlled nonlinear dynamics while guaranteeing global convergence and a computable ISS gain. The...
RSC: Decentralized Rigid Formation Flocking for Large-Scale Swarms via Hybrid Predictive Control and Online Reconfiguration
arXiv:2606.04248v1 Announce Type: new Abstract: Decentralized rigid formation flocking requires a swarm of autonomous agents to maintain a predetermined geometric configuration while moving, relying solely on local sensing and communication. However, existing decentralized control methods struggle to maintain strict inter-agent distance constraints in cluttered environments, often suffering from local minima deadlocks, high frequency control oscillations, or limited flexibility during...
Learning Controlled Separation of Small Objects Between Two Fingers with a Tactile Skin
arXiv:2605.31486v1 Announce Type: new Abstract: We introduce and solve the novel task of controlled separation of small objects with two fingers of a multi-purpose robotic hand: after grasping into a box of small objects, the task is to drop as many of them until a desired number remains between the fingers. The objects are small compared to the width of the fingers but also in absolute terms. In our case little pellets with a diameter of only 6mm are handled.
Multi-level, multi-body atomic interaction graphs for machine learning-based prediction of protein-ligand binding energies
Accurate prediction of binding affinity is crucial for rational drug design and discovery. Traditional computational methods often rely on complex scoring functions that incorporate a multitude of physical and chemical descriptors, leading to high computational demands and sometimes limited generalizability. In this work, we propose a novel scoring function that models multi-level, multi-body atomic interactions using graph-based representations.
Strategizing at Speed: A Learned Model Predictive Game for Multi-Agent Drone Racing
arXiv:2602.06925v2 Announce Type: replace Abstract: Autonomous drone racing pushes the boundaries of high-speed motion planning and multi-agent strategic decision-making. Success in this domain requires drones not only to navigate at their limits but also to anticipate and counteract competitors' actions. In this paper, we study a fundamental question that arises in this domain: how deeply should an agent strategize before taking an action?